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Static and dynamic modelling of a two-flexible-link robot manipulator

Published online by Cambridge University Press:  09 March 2009

A.S. Morris  and
A. Madani
A.S. Morris
Affiliation:
Dept. of Automatic Control & Systems Engineering, University of Sheffield, Mappin St., Sheffield, SI 3JD (UK)
A. Madani
Affiliation:
Dept. of Automatic Control & Systems Engineering, University of Sheffield, Mappin St., Sheffield, SI 3JD (UK)
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Summary

This paper is addressed at the difficulty of accurately modelling a two-flexible-link manipulator system, which is a necessary pre-requisite for future work developing a high-performance controller for such manipulators. Recent work concerned with the development of an accurate single-flexible-link model is first reviewed and then the expansion of a single-link model into a two-flexible-link system in a way which properly takes into account the coupling and interactions between the two links is discussed. The method of approach taken is to calculate the elastic and rigid motions of the links separately and then to combine these according to the principle of superposition. The application of the model developed is demonstrated in a simulated two-flexiblelink system.

Keywords

ModellingRobotTwo-flexible-linkSuperposition principle
Type
Article
Information
Robotica , Volume 14 , Issue 3 , May 1996 , pp. 289 - 300
Copyright
Copyright © Cambridge University Press 1996

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References

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